Method and system for providing information to a user

ABSTRACT

A method for providing information to a user, preferably including: determining environmental information; determining a set of features based on the information; determining output parameters based on the features; and controlling a sensory output system to generate outputs based on the output parameters. A sensory output device, preferably including a plurality of sensory output actuators. A system for providing information to a user, preferably including one or more: sensory output devices, sensors, and computing systems.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.17/222,675, filed 5 Apr. 2021, which is a continuation of U.S.application Ser. No. 16/924,844, filed 9 Jul. 2020, which is acontinuation of U.S. application Ser. No. 15/959,042, filed 20 Apr.2018, which claims the benefit of U.S. Provisional Application Ser. No.62/487,832, filed on 20 Apr. 2017, which are each incorporated in theirentirety herein by this reference.

TECHNICAL FIELD

This invention relates generally to the field of information delivery,and more specifically to a new and useful methods and systems forproviding complex information through sensation, with multi-domainencodings.

BACKGROUND

Visual and auditory perception are important parts of an individual'sability to integrate into society, interact with objects in theenvironment, and perceive and respond to risks. Traditional devices forsupporting individuals with vision impairments, hearing impairments, orother related conditions are deficient because they are highly invasiveand require surgical implantation, risky (e.g., in terms of successrates, available only to certain demographics (e.g., age demographics),inconvenient to use, and/or expensive. Examples of such devices includeretinal implants, vision correcting wearable devices, cochlear implants,and hearing aids. These deficiencies have motivated developments intechnology areas associated with sensory substitution and/or sensoryboosting, boosting of non-sight and/or non-auditory senses; however,such technologies are still limited in relation to how information fromone sense can be encoded and processed using another sense (e.g., withrespect to upsampling and downsampling issues), density of informationthat can be processed and encoded, cost, ease of use, and adoption byusers.

Thus, there is a need in the field of information delivery for a new anduseful method and system for providing complex information. Thisinvention provides such a new and useful method and system.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 depicts a schematic of a method for providing information to auser.

FIG. 2 depicts a schematic of a system and method for providinginformation to a user.

FIGS. 3A-3D depict a first, second, third, and fourth example,respectively, of a device used in a system and/or method for providinginformation to a user.

FIGS. 4A-4D depict specific example outputs of an embodiment of themethod.

FIG. 5 depicts a schematic of an embodiment of the method.

FIGS. 6A-6B depict a schematic of an embodiment of a sensory outputdevice and an example of the embodiment, respectively.

FIGS. 7A-7D depict specific example outputs of an embodiment of themethod.

FIG. 8 depicts examples of optional data flows between components of thesystem.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

The following description of preferred embodiments of the invention isnot intended to limit the invention to these preferred embodiments, butrather to enable any person skilled in the art to make and use thisinvention.

1. Overview.

A method 100 for providing information to a user preferably includes(e.g., as shown in FIGS. 1 and/or 2): determining environmentalinformation in Block S110 (e.g., information associated with anenvironment of a user); determining a set of features based on theinformation in Block S120; determining output parameters based on thefeatures in Block S130; and controlling a sensory output system (e.g.,tactile output device) to generate outputs based on the outputparameters in Block S150. The method 100 can optionally include:selecting a subset of the output parameters in Block S140 (e.g., whereinonly outputs based on the selected subset are generated in Block S150);repeating any or all of Blocks S110-S150 in Block S160; and/or any othersuitable Blocks.

For example, an embodiment of the method 100 includes (e.g., as shown inFIG. 5): receiving a dataset representative of a distribution of a setof objects within an environment of the user S110′; extracting a set offeatures characterizing the set of objects, the set of featuresincluding a first feature set associated with characteristics of the setof objects, a second feature set associated with interactivity betweenthe user and the set of objects, and a third feature set associated withthe environment of the user S120′; implementing a transformation modelwith the set of features, the transformation model operable to transformthe set of features into a set of output parameters in a device domain,the device domain associated with a distribution of tactile interfacedevices coupled to the user and output aspects of the distribution oftactile interface devices S130′; selecting a subset of the set of outputparameters, the subset corresponding to information of interest to theuser S140′; executing control signals operable to deliver the subset ofthe set of output parameters with the distribution of tactile interfacedevices coupled to the user S150′; and/or repeating Blocks S110′-S150′,as the user moves about the environment S160′.

The method 100 preferably functions to implement multi-domain encodingsthat map device outputs (e.g., provided stimuli) to higher-dimensionalrepresentations (e.g., of vision, in relation to objects in anenvironment of a user). As such, the method 100 can allow a user who isimpaired in one or more senses to receive information that wouldotherwise be received through the one or more senses. The method 100 canthus operate to provide a means for sensory substitution and/or sensoryboosting to allow a user to receive and process information. The method100 can, however, additionally or alternatively be used for users whoare not impaired in one or more senses, but for whom receiving ofinformation from multiple sensory sources is desired. The method 100preferably provides information to impaired users through touchsensation, However, the method 100 can additionally or alternativelyimplement any other suitable sensory substitution or sensory boostingregime. In specific applications, the method 100 can operate to allow auser with vision impairment, hearing impairment, and/or other forms ofimpairment to move about his/her environment without other guidance,using a tactile output system (e.g., wearable tactile output devicedevice) including a distribution of haptic interface devices (e.g.,haptic actuators).

The method 100 can thus be implemented using system components describedin more detail below, and/or using one or more embodiments, variations,and/or examples of the system described in U.S. application Ser. No.14/750,626, titled “Providing Information to a User ThroughSomatosensory Feedback” and filed on 25 Jun. 2015, which is hereinincorporated in its entirety by this reference. However, the method 100can additionally or alternatively be implemented using any othersuitable system or system components for providing information to usersthrough feedback devices.

2. System.

The system preferably includes one or more sensory output devices (e.g.,tactile output devices, such as devices including an array of hapticactuators), which are preferably configured to provide sensory stimulito a user, and can additionally or alternatively include one or moresensors, identifiers (e.g., tags), computing systems, and/or any othersuitable elements. The sensory output devices preferably include aplurality of sensory output actuators, and can additionally oralternatively include one or more communication modules, power modules,computation modules (e.g., processors, memory, etc.), housings (e.g.,enclosing and/or affixing other elements of the device, configured tomechanically couple the device to a user, etc.), and/or any othersuitable elements.

The sensors can include local sensors (e.g., sensing an environment ofthe device and/or user; sensors located and/or sensing regions within athreshold distance of the sensory output device and/or user, such as 0.1m, 0.3 m, 1 m, 2 m, 5 m, 10 m, 20 m, 50 m, 100 m, 200 m, 0.1-1 m, 1-10m, 10-100 m, 100-1000 m, etc.), remote sensors (e.g., sensing a separateenvironment; sensors located and/or sensing regions farther than athreshold distance of the sensory output device and/or user, such as 10m, 20 m, 50 m, 100 m, 200 m, 500 m, 1 km, 10 km, 10-100 m, 100-1000 m,1-10 km, 10-1000 km, etc.), virtual inputs (e.g., associated with avirtual environment), and/or any other suitable sensors in any othersuitable configuration. The local sensors can include, for example,sensors of (e.g., integrated into, attached to, etc.) the sensory outputdevice, other sensors associated with the user (e.g., sensors of anelectronic user device, such as a smartphone or tablet), and/or sensorsassociated with the environment (e.g., sensors integrated into and/orattached to a building or outdoor area, such as sensors arranged withinevery city block of an urban region). The remote sensors can include,for example, sensors associated with other people (e.g., sensors ofother people's electronic user devices and/or sensory output device)and/or sensors associated with other environments. However, the sensorscan additionally or alternatively include any other suitable sensors inany suitable locations.

The sensors can include, for example, one or more: cameras (e.g., CCD,CMOS, multispectral, visual range, hyperspectral, stereoscopic, etc.),time of flight (ToF) sensors (e.g., lidar, radar, sonar, opticalrangefinder, etc.), spatial sensors (e.g., inertial measurement sensors,accelerometer, gyroscope, altimeter, magnetometer, etc.), locationsensors (e.g., GPS, GNSS, triangulation, trilateration, etc.), audiosensors (e.g., transducer, microphone, etc.), barometers, light sensors,temperature sensors, current sensors (e.g., Hall effect sensor), airflow meters, voltmeters, touch sensors (e.g., resistive, capacitive,etc.), proximity sensors, force sensors (e.g., strain gauge meter, loadcell), vibration sensors, chemical sensors, and/or any other suitablesensors. The sensors can additionally or alternatively include sensorsconfigured to detect and/or determine information associated withidentifiers of the system (e.g., identifiers such as described below).However, the system can additionally or alternatively include any othersuitable sensors.

The system can optionally include one or more identifiers (e.g., tags).The identifiers can include optical tags (e.g., IR tags and/or beacons,barcodes and/or QR codes, character-based text identifiers, etc.),radio-frequency tags (e.g.; active and/or passive RFID tags; radiobeacons, such as those communicating via protocols such as Bluetooth,BLE, Wi-Fi, etc.; etc., which can have limited physical transmissionrange), magnetic tags (e.g., permanent magnets, electromagnets, etc.),and/or any other suitable tags. The identifiers can be located in and/oron the sensory output device, user, other people, surroundings of theuser, remote environments, obstacles and/or regions of interest, and/orany other suitable locations. The identifiers can be arranged inpredetermined and/or patterned locations (e.g., regular array, accordingto a predetermined tag map, etc.), randomly (e.g., wherein theidentifiers can subsequently be mapped, such as before and/or duringperformance of the method), and/or in any other suitable arrangement.The identifiers are preferably configured to be detected and/or analyzedby the sensors and/or communication modules of the system and/orexternal or auxiliary systems (e.g., RF beacons configured tocommunicate and/or authenticate with RF communication modules of thesystem, etc.), but can additionally or alternatively be configured inany other suitable manner. In a specific example, an object proximity tothe user (and/or device associated with the user, such as an electronicuser device, sensory output device, etc.) and/or user proximity to areceiver (e.g., associated with a known receiver location) can bedetermined based on the RSSI or other signal strength indicator of asignal transmitted by the identifier. In another example, an objectand/or sensory output device orientation relative to the sensory outputdevice and/or receiver, respectively, can be determined based on thesignal angle of departure and/or angle of arrival. However, the obstacleor target pose can be otherwise determined.

The sensory output device preferably provides stimuli (e.g., throughsensory output devices in proximity to the user, such as hapticactuators mechanically coupled to the user), and can optionally includeone or more power modules and/or computational modules (e.g., as shownin FIGS. 6A and/or 6B). The device components associated with thestimuli are preferably disposed in a single device, but can additionallyor alternatively be disposed across a plurality of devices, and/or bedisposed in any other suitable manner.

The stimuli can be provided by a plurality of tactile interface devices(e.g., haptic actuators, electrical stimulators, etc.) in a spatialdistribution (e.g., multidimensional spatial distribution), each ofwhich can provide a variety of available output stimuli with differentstimulus parameters. For example, the device can include one or morearrays of tactile interface devices (e.g., high-density and/ormultidimensional array(s), such as shown in FIGS. 2, 3B, and/or 3C;lower-density and/or single-dimensional array(s), such as shown in FIG.3A; etc.), each of which preferably has a range of available outputstimuli with different stimulus parameters. The device(s) can providehaptic stimuli through the tactile interface devices, and in specificexamples, can include an array of tactile interface devices operable toprovide configurable haptic stimuli to a user. The tactile interfacedevices can include vibration motors (e.g., eccentric rotating mass(ERM) devices), Linear Resonant Actuators (LRAs), piezoelectric devices,and/or any other suitable devices (and/or combinations thereof, such ashybrid devices incorporating both ERM and LRA elements). However, thetactile interface device(s) can additionally or alternatively include:lights, heating/cooling elements (e.g., Peltier pumps), actuatablepixels (e.g., expandable or retractable regions or protrusions), and/orany suitable tactile interface device.

The device(s) can additionally or alternatively be operable to provideone or more of: auditory stimuli, electrical stimuli (e.g., peripheralstimuli, etc.), olfactory stimuli, taste stimuli, and any other suitableform of stimulus.

The spatial distribution (e.g., array) of tactile interface devices canhave a density from 5 devices per cm² to 50 devices per cm², or anyother suitable density. Furthermore, the spatial distribution of tactileinterface devices can be configured with any suitable morphologicalaspects. The tactile interface devices are preferably arranged in one ormore arrays (e.g., high-density arrays). The arrays can includemultidimensional arrays (e.g., planar array, 3-dimensional volumetricarray, array defined substantially along one or more device surfaces,etc.), single-dimensional arrays (e.g., linear array, curvilinear array,etc.), and/or any other suitable arrays. For example, the device caninclude a two-dimensional array (e.g., defined substantially on a plane,defined on a curved and/or bent surface, etc.). The arrays can beconfigured as one or more of: a circular array, an ellipsoidal array, apolygonal array (e.g., a triangular array, rectangular array, apentagonal array, a hexagonal array, etc.), a circumscribing array, anamorphous array, an array substantially spanning the support structurewith which the array is integrated, and any other suitable array type.Additionally or alternatively, the device can include an irregulardistribution of tactile interface devices (e.g., arranged substantiallyon a surface and/or within a volume of the device) and/or any othersuitable arrangement of tactile interface devices. Furthermore, thespatial distribution (e.g., array) can be configured across differentlayers of the overarching device coupled to the user.

The tactile interface device(s) of the array can be controlled as agroup, as an array, or be individually indexed and controlled. Thetactile interface device(s) can be divided into control domains, whereineach domain (e.g., physical domains of the array of tactile interfacedevices) can be associated with a different object class,characteristic, or other contextual information type. Different domainscan be controlled by the same or individual control systems (e.g.,signal drivers, processing systems, etc.). The different domains can bedefined as: vertical domains (e.g., vertical strips) and/or horizontaldomains (e.g., horizontal bands), be overlapping domains, be the samedomain (e.g., wherein different output frequencies, patterns,intensities, or other characteristic can be mapped to differentcontextual information types), or be otherwise spatially arranged. Thedifferent domains can be physically separated (e.g., by a non-zerodistance), be contiguous, be overlapping, or be otherwise spatiallyrelated.

In a first embodiment, as shown in FIG. 3A, the array of tactileinterface devices is integrated with a wrist-region wearable banddevice, wherein the array is distributed circumferentially about theband surface and coupled to electronics that facilitate provision ofhaptic stimuli. In this embodiment, the array can be a high-densityarray, a low-density array (e.g., with a total number of actuators suchas 2, 3, 4, 5, 8, 16, 5-10, 10-20, etc.), and/or any other suitablearray or other arrangement. In this embodiment, the system preferablyincludes a housing operable to 1) contain electronics for powering thetactile interface devices and transitioning the tactile interfacedevices between different modes and/or 2) support the array of tactileinterface devices while positioning the array of tactile interfacedevices in a manner such that the user can sense stimuli provided by thearray. The housing can thus be coupled to or otherwise include afastener that couples the system to a user. The fastener and housing canbe of unitary construction or otherwise physically coextensive, or canbe otherwise connected, coupled, or couplable. The fastener ispreferably operable to be easily and/or repeatably fastened andunfastened manually by the user, and in specific examples, can include alatch, snap, buckle, clasp, hook-and-loop fastening mechanism, and/orany other suitable fastening mechanism, and/or can be operable to expandand contract (e.g., including an elastic element, such as an expansionband; including a deployment clasp, butterfly clasp, or other clasp thatis physically coextensive when unclasped; etc.).

In a second embodiment, the tactile interface devices are configured tobe carried with a user (e.g., worn by the user, in proximity to theuser). In this embodiment, the tactile interface devices are preferablyintegrated into a wearable garment, wherein the garment can be orinclude: a top (e.g., shirt, vest, etc.), a bottom (e.g., pants, shorts,skirt, etc.), a headpiece (e.g., headband, earmuffs, hat, etc.), abackpack, an undergarment, socks, and any other suitable form ofgarment. Additionally or alternatively, the tactile interface devicescan be configured to be mechanically coupled to the wearable garment(e.g., retained in one or more pockets of the garment, attached byfasteners such as buttons, clips, magnets, and/or hook-and-loopfasteners, attached by adhesive, etc.). Additionally or alternatively,the tactile interface devices can be configured to attach directly to auser (e.g., by suction, adhesive, etc.), preferably to one or more skinsurfaces of the user. Additionally or alternatively, the tactileinterface devices can be incorporated into one or more wearable devices(e.g., a head-mounted wearable device, etc.) and/or implanted devices.Additionally or alternatively, the tactile interface devices can beincorporated into prosthetic devices (e.g., lower limb prosthetics,upper limb prosthetics, facial prosthetics, etc.). In an example, suchas shown in FIGS. 3B and/or 3C, the array of tactile interface devicescan be integrated with a vest garment operable to be worn by a user asthe user moves about in his/her daily life.

In a third embodiment, the tactile interface devices are configured tobe mechanically coupled to the user by a support device that supportsthe user (e.g., by a support element of the support device), such asshown in FIG. 3D. For example, the tactile interface devices can beintegrated into the support element and/or arranged between the user andthe support element (e.g., resting on top of the support element). Thesupport devices can include seats (e.g., seats of a vehicle, such as acar or other roadgoing vehicle), couches, beds, platforms (e.g., forsitting and/or standing on), walls, inclined surfaces (e.g., configuredto support a leaning user), and/or any other suitable support devices(e.g., as described in U.S. application Ser. No. 15/661,934 titled“Method and System for Determining and Providing Sensory Experiences”and filed on 27 Jul. 2017, which is herein incorporated in its entiretyby this reference).

Additionally or alternatively, the tactile interface devices can bedisposed in a device configured to be held by the user (e.g., hand-held,held between an arm and torso of the user, held between the legs of theuser, etc.). Additionally or alternatively, the tactile interfacedevices can be disposed in a device configured to rest on the user(e.g., retained against the user by gravity), such as a blanket.However, the tactile interface devices can additionally or alternativelybe coupleable to the user (and/or otherwise configured to interact withthe user) in any other suitable manner.

In some embodiments, some or all of the tactile interface devices(and/or any other suitable sensory output devices or other devicesassociated with the system) can be configured to be attached (e.g.,permanently, removably, repeatably, etc.) to one or more attachmentsubstrates, such as described in U.S. application Ser. No. 15/716,195titled “System and Method for Sensory Output Device Attachment” andfiled on 26 Sep. 2017, which is herein incorporated in its entirety bythis reference. However, the tactile interface devices can additionallyor alternatively be attached and/or otherwise coupled to the system inany other suitable manner.

Each tactile interface device (and/or other output unit) is preferablycontrolled by independent signals and configured to actuateindependently from the other output units. Alternatively, a group ofoutput units (e.g., a cluster or subset of the output units) can beindependently controlled, such that the group of output units canoperate independently from the other output units. Each controlledsubset (e.g., individual output unit or cluster) can include one or moreoutput units of the same or different types. In variations, in additionto or in alternative to controlling subsets of actuators (e.g.,overlapping and/or disjoint subsets) to convey information as a functionof features (e.g. in a first group for a first phoneme or other languagecomponent; in a second group, including only actuators not included inthe first group, for a second phoneme or other language component; in athird group, including a subset of actuators of the first and secondgroups, for a third phoneme or other language component; etc.), subsetscan be used to map a numerical input to a multi-actuator output. In anexample, the actuators can be controlled to make the impression of“sweeps” (e.g., by turning actuators, such as spatially consecutiveactuators, on and off in quick succession), such as upward and/ordownward sweeps.

Each controlled subset is preferably individually identified, such thatit has a locally unique identifier (e.g., index value), but canalternatively share an identifier with a second controlled subset of thedevice, or be otherwise identified. Each controlled subset (or therespective identifier) is preferably associated with a known, storedspatial position on the device (controlled subset position). Thecontrolled subset position can include an arcuate position, radialposition, position along an axis (e.g., lateral axis, longitudinal axis,etc.), set of coordinates, grid position, position relative to anotherdevice component (e.g., sensor, different output unit, etc.), or be anyother suitable position. The controlled subset positions can be storedby the device (e.g., on volatile or non-volatile memory), can be encoded(e.g., implicitly, explicitly) via a re-indexing module (e.g.,reindexing array), and/or stored (and/or otherwise made available) byany other suitable system. However, indexing and/or storing canadditionally or alternatively be implemented in any other suitablemanner.

Each controlled subset is preferably wired in parallel relative to othercontrolled subsets of the device, but can alternatively be wired inseries, wired in a combination of in parallel and in series, or be wiredin any other suitable manner (or not be wired). The controlled subsetsof the device are preferably controlled by the processor, but canadditionally or alternatively be controlled by a remote computing system(e.g., server system), external device (e.g., mobile device, appliance,etc.), and/or any other suitable computing system.

The sensory output device(s) preferably receive input information fromone or more sensors (e.g., configured to receive and/or generate one ormore input signals; sensors such as described above and/or otherwise)and/or communication modules (e.g., configured to receive and/or sendinformation, such as sensor data and/or user selections, from and/or toother devices, such as electronic user devices, remote sensors, remotecomputing systems, etc.).

The communication modules can include wired communication modules (e.g.,configured to communicate by wired data connections, such as Ethernet,USB, power line, etc.) and/or wireless communication modules (e.g.,radios). The wireless communication modules preferably support (e.g.,enable communication using) one or more wireless communication protocols(e.g., WiFi, Bluetooth, BLE, NFC, RF, IR, Zigbee, Z-wave, etc.).However, the system can additionally or alternatively include any othersuitable communication modules.

The power module can include one or more power input elements, powerstorage elements, and/or any other suitable elements. The power moduleis preferably an electrical power module with an electrical input (e.g.,electrical power connection such as a wired connector or inductive loop)and/or electrical storage element (e.g., battery, supercapacitor, etc.),but can additionally or alternatively include any other suitable powerinput and/or storage elements. The power module can include a batterythat is preferably electrically coupled (e.g., connected by conductivewires) to the powered system components, wherein the computationalmodule preferably controls power provision (e.g., as described below),but power provision and/or battery management can additionally oralternatively be performed by any other suitable components.

The computational module can include one or more processors (e.g., CPUor other microprocessor, control circuit, relay system, etc.), computermemory modules (e.g., RAM), computer storage modules (e.g., hard diskdrive, flash memory, etc.), and/or any other suitable elements. Thecomputational module is preferably configured to control and/or receiveinformation from the outputs, inputs, communication modules, powermodules, and/or any other suitable elements of the system. Thecomputational module can be distributed across multiple systems (e.g.,remote server, personal computing device, wearable computing device,mobile computing device, etc.) and/or in the cloud, or can alternativelybe implemented in a single computing system.

The computational module is preferably configured to control thecontrolled subsets (e.g., output units such as tactile interfacedevices, groups of output units, etc.) individually. In a first example,the processor is configured to provide control signals to eachcontrolled subset (e.g., to a control element of each controlled subset,such as an actuator control circuit). Additionally or alternatively, ina second example, the processor is configured to selectively providepower from the power module to each controlled subset (e.g., byregulating the current provided to each output unit) or to selectivelycommand each controlled subset to enter a mode or attain a set pointparameter value (e.g., by communicating a command to an integratedcontroller of each output unit). However, the computational module canadditionally or alternatively be configured to control the controlledsubsets in any other suitable manner, or can be configured to notcontrol the controlled subsets.

As described earlier, the system can include embodiments, variations,and examples of the device(s) described in U.S. application Ser. No.14/750,626, titled “Providing Information to a User ThroughSomatosensory Feedback” and filed on 25 Jun. 2015, U.S. application Ser.No. 15/661,934, titled “Method and System for Determining and ProvidingSensory Experiences” and filed on 27 Jul. 2017, and/or U.S. applicationSer. No. 15/696,997, titled “Method and System for Providing AdjunctSensory Information to a User” and filed on 6 Sep. 2017; however, thesystem can additionally or alternatively include any other suitabledevices and/or device elements.

3. Method.

Block S110 recites: determining environmental information (e.g.,receiving a dataset representative of a distribution of a set of objectswithin an environment of the user), which preferably functions toprovide one or more sources of information that can be processed anddelivered to the user in a new format, according to subsequent blocks ofthe method 100.

Block S110 can implement one or more system components (e.g., sensors ofthe system, such as local sensors, remote sensors, etc.) operable tocollect data that is representative of objects in the environment of theuser and/or data that is representative of other aspects of theenvironment of the user. In relation to objects in the environment ofthe user, Block S110 can thus implement systems operable to use ordetect one or more of: radiation (e.g., light in the visible spectrum,light in the ultraviolet spectrum, light in the infrared spectrum, radiowaves, other forms of radiation), heat, sound waves, electrical fields,physical interactions (e.g., touch, smell, etc.), any suitable form ofenergy that can be detected from objects in the environment, and anyother suitable form of energy that can interact with objects in theenvironment to produce an observable signal. As such, systems and datatypes can be selected based upon sensor type, accuracy, resolution,range, susceptibility to environmental conditions, and any othersuitable factors related to object detection. In variations, Block S110can thus include receiving one or more of: light detection and ranging(LIDAR) data, radar signals, image data (e.g., which can be processedusing photogrammetric techniques), sonar/echolocation data, infrareddata, audio data, and any other suitable types of data.

In Block S110, some or all information determined (e.g., data collected)preferably includes or can otherwise be processed to generatethree-dimensional (3D) representations of objects in the environment ofthe user. As such, in variations Block S110 can include receiving orgenerating one or more of: point cloud data, surface mesh data, or other3D model data. Block S110 can additionally or alternatively includedetermining two-dimensional (2D) and/or other representations of objectsin the environment of the user (e.g., receiving and/or otherwisedetermining planar map information, such as street maps, pedestrian pathmaps, building maps, room maps, etc.).

Furthermore, Block S110 can include directly collecting the data atvariations of systems described above, wherein the systems includetransmission devices (e.g., lasers, radio transmission devices, soundwave transmission devices, etc.), sensors (e.g., optical detectionsensors, radar sensors, microphones, infrared sensors, etc.), andstorage devices. However, Block S110 can omit data collection, andinstead include receiving collected data directly from storage devices.

In a first specific example, Block S110 can include receiving 3D pointcloud data of an environment of the user, wherein the 3D point clouddata is acquired using a LIDAR system. In a second specific example,Block S110 can include using an infrared light projector to projectlight through infrared sources, wherein the projected light interactswith objects in the environment and is detected with one or moreinfrared cameras. In a third specific example, Block S110 can includereceiving and processing radar data associated with environmentalobjects, based upon interference, reflection, transmission, and/or otherradar characteristics. In a fourth specific example, Block S110 caninclude projecting sound waves with known characteristics into theenvironment, and receiving reflected and/or transmitted sound waves thathave interacted with environmental objects. However, Block S110 canadditionally or alternatively include receiving any other suitable typeof data that is representative of the environment (e.g., objects in theenvironment) of the user (and/or any other suitable real and/or virtualenvironments).

For instance, Block S110 can include receiving data associated withenvironmental features that are not necessarily objects, but that caninteract with the user and/or affect the user physically. In examples,Block S110 can include receiving data associated with heat sources orother areas of high temperature (e.g., a region near a hot stove or ovenusing infrared sensors, temperature sensors, device states, etc.),regions near electrical hazards, regions of high moisture content,regions of poor air quality, and/or any other suitable non-objectenvironmental features.

Block S110 can additionally or alternatively include determininginformation associated with the user, such as people of interest (e.g.,determined based on social graph information, such as that determined orqueried from a social networking system; company directories; storedcontacts; manual inputs; etc.), destinations (e.g., determined based onmanual inputs, calendar entries, historical travel, current usertrajectory, etc.), and/or any other suitable information.

In some variations, Block S110 includes determining position and/ororientation information at one or more sensors. For example, Block S110can include determining the position and/or orientation of the user(and/or a sensory output device coupled to the user, such as a garmentor band worn by the user), such as based on sensors (e.g., GPS receiver;RF communication systems, such as Wi-Fi radios; IMU sensors, such asmagnetometers, gyroscopes, and/or accelerometers; sensors configured todetect identifiers in the environment; etc.) attached to the sensoryoutput device and/or otherwise associated with the user (e.g.,integrated with an electronic user device, such as the user'ssmartphone). User position and/or orientation can be determined relativeto a global coordinate system (e.g., based on GPS systems, RF-basedgeopositioning techniques such as Wi-Fi SSID-based geopositioningservices, magnetometer data, etc.), relative to local reference points(e.g., based on detection of the local reference point at sensorscoupled to the user, based on detection of the user (and/or associatedidentifiers or devices) at sensors coupled to the local reference point,based on detection of both the user and the local reference point atexternal sensors, etc.; using sensors such as cameras, lidar systems, RFsensors, other sensors such as those described above regarding thesystem, etc.), dead reckoning (e.g., based on IMU or other motion sensorinformation), and/or relative to any other suitable references. BlockS110 can additionally or alternatively include determining user motion(e.g., based on measurements from sensors such as IMU sensors; based onchanges in user position, such as position determined as describedabove; etc.) and/or any other suitable spatial information associatedwith the user.

Block S110 can additionally or alternatively include determining themotion, position, and/or orientation of other people (e.g., persons ofinterest to the user, people associated and/or not associated with theuser, etc.) and/or objects. Such motion, position, and/or orientationinformation can be determined in an analogous manner as described aboveregarding the user motion, position, and orientation, and/or can bedetermined in any other suitable manner. In a first specific example,such information is determined based on sensors (e.g., GPS receiver, IMUsensors, etc.) carried by and/or otherwise associated with the people(e.g., other electronic user devices, such as other people'ssmartphones). In a second specific example, such information isdetermined based on other sensors (e.g., fixed sensors within theenvironment, such as cameras and/or LiDAR systems; sensors associatedwith the user, such as sensors integrated with the sensory output deviceand/or electronic user device; etc.). However, Block S110 canadditionally or alternatively include determining any other suitableinformation in any suitable manner.

Block S120 recites: determining a set of features based on theinformation (e.g., extracting a set of features characterizing the setof objects, the set of features including a first feature set associatedwith characteristics of the set of objects, a second feature setassociated with interactivity between the user and the set of objects,and a third feature set associated with the environment of the user).Block S120 preferably functions to extract key features from theinformation determined in Block S110 (e.g., wherein the key featurespertain to objects or other features present in the environment of theuser, with which the user may interact).

A first feature set can be associated with characteristics inherent toeach of the set of objects and/or classifications of the set of objectsaccording to one or more definitions. In relation to objectcharacteristics, in variations, the first feature set can be associatedwith one or more of the following for each of the set of objects:morphological features (e.g., shape, size), surface features (e.g.,texture, sharp features, etc.), aesthetic features (e.g., color),motility, movement patterns, modularity, mechanical features (e.g.,stiffness, elasticity, etc.), physical features (e.g., mass, density,temperature, electrical charge, etc.), and any other suitablecharacteristic physical features.

In relation to classifications of the set of objects, in variations, thefirst feature set can be associated with classifications at one or morelevels or hierarchies. For instance a highest hierarchy can beassociated with one or more of the following classifications for each ofthe set of objects: animate vs. inanimate, living vs. non-living, andany other suitable higher level classification. Then, each of the set ofobjects can be classified at a next classification level. For instance,in relation to animate objects, lower level classifications can beassociated with humans (e.g., known humans and/or persons of interest,strangers) vs. non-humans or other taxonomic levels. Similarly, inrelation to inanimate objects, lower level classifications can beassociated with inanimate object types (e.g., furniture, appliances,vehicles, etc.). However, any other suitable classification regime inthe first feature set can be used.

Extraction of the first feature set from the data received in Block S110can be implemented using one or more classification algorithms includingone or more of: lumping and splitting algorithms, artificial neuralnetworks, category learning algorithms, clustering, pattern recognitiontechniques, and any other suitable classification algorithms.Furthermore, classification algorithms can be trained using machinelearning techniques, and in variations, the machine learningtechnique(s) can be characterized by a learning style including any oneor more of: supervised learning (e.g., using logistic regression, usingback propagation neural networks), unsupervised learning (e.g., using anApriori algorithm, using K-means clustering), semi-supervised learning,reinforcement learning (e.g., using a Q-learning algorithm, usingtemporal difference learning), and any other suitable learning style.Furthermore, the machine learning algorithm can implement any one ormore of: a regression algorithm (e.g., ordinary least squares, logisticregression, stepwise regression, multivariate adaptive regressionsplines, locally estimated scatterplot smoothing, etc.), aninstance-based method (e.g., k-nearest neighbor, learning vectorquantization, self-organizing map, etc.), a regularization method (e.g.,ridge regression, least absolute shrinkage and selection operator,elastic net, etc.), a decision tree learning method (e.g.,classification and regression tree, iterative dichotomiser 3, C4.5,chi-squared automatic interaction detection, decision stump, randomforest, multivariate adaptive regression splines, gradient boostingmachines, etc.), a Bayesian method (e.g., naïve Bayes, averagedone-dependence estimators, Bayesian belief network, etc.), a kernelmethod (e.g., a support vector machine, a radial basis function, alinear discriminate analysis, etc.), a clustering method (e.g., k-meansclustering, expectation maximization, etc.), an associated rule learningalgorithm (e.g., an Apriori algorithm, an Eclat algorithm, etc.), anartificial neural network model (e.g., a Perceptron method, aback-propagation method, a Hopfield network method, a self-organizingmap method, a learning vector quantization method, etc.), a deeplearning algorithm (e.g., a restricted Boltzmann machine, a deep beliefnetwork method, a convolution network method, a stacked auto-encodermethod, etc.), a dimensionality reduction method (e.g., principalcomponent analysis, partial lest squares regression, Sammon mapping,multidimensional scaling, projection pursuit, etc.), an ensemble method(e.g., boosting, boostrapped aggregation, AdaBoost, stackedgeneralization, gradient boosting machine method, random forest method,etc.), and any suitable form of machine learning technique.

A second feature set can be associated with interactivity between theuser and environmental features such as objects of the set (e.g.,thereby including aspects associated with the user's ability to interactwith the each of the set of objects in a beneficial manner and/or forthe set of objects to interact with the user in an undesired manner). Invariations, the second feature set can be associated with one or more ofthe following for each of the set of objects: distance between theobject and the user; direction vectors between the user and objects ofinterest (e.g., position of the object relative to the user, preferablyaccounting for both user position and user orientation, butalternatively based on user position and a fixed reference orientationand/or based on any other suitable coordinates); relative heightsbetween the objects and the user; relative motion (e.g., velocity,acceleration, etc.) between the object and the user; features associatedwith the types of interactions available between the user and theobject; features associated with a risk profile of the object (e.g.,features indicative of a maximum amount of damage that could result froman interaction between the object and the user, features indicative of aminimum amount of damage that could result from an interaction betweenthe object and the user, etc.); features associated with a benefitprofile of the object (e.g., features indicative of a benefit that couldbe gained as a result of an interaction between the object and theuser); and any other suitable interactivity features. In one example,potentially useful objects can include points of interest (e.g.,restrooms, water fountains, vendors and/or vending machines, etc.).However, the potentially useful objects can additionally oralternatively include any other suitable objects.

The second feature set can additionally or alternatively includecharacteristics associated with the environment itself (e.g., ratherthan and/or in addition to the objects within it). For example, suchcharacteristics can include environmental classifications, such aspurposes and/or functionalities associated with the environment. In afirst example, such classifications include classifications associatedwith regions of an organization's building and/or campus (e.g.,determined based on an organization map, such as from internal mapdata), such as departments and/or building types (e.g., warehouse,manufacturing, research & development, legal, etc.; physics, biology,comparative literature, electrical engineering, etc.). In a secondexample, such classifications include classifications associated withregions of an urban area (e.g., determined based on a map such as amunicipal or regional map), such as municipal zones and/or districts(e.g., theater district, financial district, residential zone,commercial zone, light industrial zone, etc.). However, the secondfeature set can additionally or alternatively include any other suitablecharacteristics.

Extraction of the second feature set can be derived from analyses ofstates of the user and each of the set of objects. As such, in examples,generating portions of the second feature set can include processing ofposition, velocity, acceleration vectors, and or derivative metricsbetween the user and each of the set of objects. Extraction of thesecond feature set can additionally or alternatively be derived from thecharacterizations of the first feature set, in relation to benefit,harm, and/or potential interactions that could occur between the userand each of the set of objects. The second feature set can be generatedor trained using machine learning techniques, as described in relationto the first feature set above.

In a first variation, determining a position of an object relative tothe user (e.g., for inclusion in the second feature set and/or any othersuitable feature set) includes: determining a position and/ororientation of the user relative to an external reference (e.g., a fixedcoordinate system, a global or local map, a fixed object within theenvironment, etc.); determining a position (and/or orientation) of theobject relative to the external reference (and/or to another externalreference, such as wherein a spatial relationship between the twoexternal references is known or can be determined); and, based on thepositions and/or orientations of the user and the object, determiningthe position of the object relative to the user. In a second variation,determining a position of an object relative to the user includessampling sensor measurements directly indicative of the relativeposition. In examples, such sensor measurements can include: at a sensorassociated with (e.g., carried by, mechanically coupled to, etc.) theuser, sampling measurements indicative of the relative position of theobject (e.g., data, such as camera images, lidar data, etc., thatincludes a representation of the object); at a sensor associated withthe object, sampling measurements indicative of the relative position ofthe user; and/or at an external sensor (e.g., not mechanically coupledto the user or the object), sampling measurements indicative of thespatial relationship between the object and the user. However, thesecond feature set can additionally or alternatively be determined inany other suitable manner.

A third feature set can be associated with the environment of the user(e.g., thereby characterizing aspects of the environment that couldeither affect the user and/or the set of objects, and/or could promoteor obstruct interactions between the user and the set of objects). Invariations, the third feature set can describe one or more of thefollowing: environment-attributed paths or trajectories between the userand each of the set of objects; boundaries attributed to the environment(e.g., walls, ceilings, floors, etc.), environmental terrain features(e.g., upsloping terrain, downsloping terrain, uneven terrain, looseterrain, homogenous terrain, slippery terrain, stairs, such as stairsextending upward and/or downward from a user position or currentelevation, etc.), environmental conditions (e.g., temperature, humidity,pressure, lighting conditions, sound-related features, air quality,etc., and any other suitable features associated with the environment ofthe user.

Extraction of the third set of features can be performed usingenvironmental sensors (e.g., temperature sensors, optical sensors,humidity sensors, microphones, light sensors, pressure sensors, etc.)configured throughout the environment of the user. Extraction of thethird set of features can additionally or alternatively includeprocessing of the data received in Block S110 to extract environmentalfeatures. Extraction of the third set of features can additionally oralternatively include processing of data associated with known and/orindicated objects in the environment (e.g., predetermined map data).However, the third set of features can additionally of alternatively beextracted in any other suitable manner.

Block S120 can additionally or alternatively include determiningfeatures associated with user navigation (e.g., waypoint-basednavigation, turn-by-turn navigation, etc.). For example, Block S120 caninclude determining a route for user traversal (e.g., pedestriantraversal) to a destination (e.g., destination determined in Block S110,such as a destination received from the user), preferably from theuser's current position. The route can be defined by traversal paths,waypoints (e.g., vertices of the paths), and/or any other suitable routeelements. For example, route determination can include, based on thedestination (e.g., determined in Block S110) and preferably on thecurrent user location, determining a series of waypoints for usertraversal to the destination (e.g., using map data and/or sensormeasurements to determine the paths and/or waypoints). The waypoints canoptionally be handled similarly to environmental objects, whereincharacteristics of one or more waypoints (e.g., the next waypoint in theseries, the next several waypoints, all waypoints, etc.), such asposition relative to the user (e.g., distance, heading, etc.), can bedetermined and/or included in the set of features.

Route determination can optionally include determining multiple routesto a destination (e.g., alternate routes, such as to allow for routeblockages and/or user preferences), routes to multiple destinations(e.g., wherein a user plans to travel to multiple destinations, such asin an arbitrary order; multiple candidate destination, such as whereinthe user's final destination is not yet known; etc.), and/or any othersuitable number of routes of any suitable type. The multiple routes canoptionally share waypoints (e.g., wherein waypoints for overlappingroute portions are determined once and shared by all relevant routes).

In relation to Block S120, the method 100 can include performing anysuitable filtering operations with the feature sets. For instance, thefeature sets can be filtered to remove features not of interest to theuser (e.g., based upon sensory impairment details, based on personalinterest, based on professional interests, etc.). Additionally oralternatively, In relation to Block S120, the method 100 can includeperforming any suitable prioritization operations with the feature sets.For instance, the feature sets can be processed with a ranking algorithmthat prioritizes features of interest to the user (e.g., based onsensory impairment details, based on personal interest, based onprofessional interests, etc.) or de-prioritizes features not of interestto the user. However, Block S120 can include post-processing orpre-processing the features sets in any other suitable manner.

Furthermore, Block S120 can include extracting any other suitablefeature sets and/or organizing the feature sets in any other suitablemanner.

Block S130 recites: determining output parameters based on the features(e.g., implementing a transformation model with the set of features, thetransformation model operable to transform the set of features into aset of output parameters in a device domain, the device domainassociated with a distribution of tactile interface devices coupled tothe user and output aspects of the distribution of tactile interfacedevices). Block S130 preferably functions to use features of interestextracted in Block S120, to generate multi-domain encodings associatedwith outputs of a device coupleable to the user (e.g., sensory outputdevice, such as described above regarding the system). As such, BlockS130 functions to facilitate transformation of object features,object-user interaction features, and environment-derived features intosignals that can be output using a device coupled to the user (e.g., byencoding feature-derived components for use in controlling outputs ofthe device).

The transformation model can optionally generate output componentsassociated with control signals that activate devices of the set oftactile interface devices (e.g., wherein the control signals can beexecuted in Block S150 of the method 100). In variations, thetransformation model can include performing one or more of thefollowing: a linear Predictive Filtering/Coding (LPC) operation, thatproduces a set of filter coefficients and an energy parameter, whereinthe filter coefficients can be converted to frequency-locations in aline spectral pair (LSP) representation (e.g., line spectralfrequencies), and the energy parameter is mapped to a stimulus parameter(e.g., intensity, amplitude, duration, etc.); a decompositiontransformation operation, where each dimension represents how much of abasis function is present; a single global axis mapping operation,wherein the possible range of frequencies may be discretized to a set offrequency bands based on the number of tactile interface devices in thearray and each element represents represent a band of frequencies; amultiple local axis mapping operation, wherein each LSP is given adifferent set of tactile interface devices to represent a range offrequencies; a coded local axis mapping operation, wherein each LSP isgiven a different set of axis representative of the frequency domainusing a tree-type code (e.g., a binary code with different levels fordifferent frequency ranges or functions); and any other suitableencoding or mapping operation.

The transformation model can be implemented using a computational modulethat retrieves a physical layout for the set of tactile interfacedevices (e.g., from storage, from inputs provided by a user or operator,etc.). Encoding and mapping can additionally or alternatively beimplemented in any other suitable manner, such as described in U.S.application Ser. No. 14/750,626, titled “Providing Information to a UserThrough Somatosensory Feedback” and filed on 25 Jun. 2015.

In relation to the feature sets described in Block S120 above, thetransformation model(s) of Block S130 can transform, encode, orotherwise map feature sets associated with the set of objects to one ormore of: subdomains (e.g., subregions, sub-clusters, sublayers, etc.) ofthe array of tactile interface devices; different stimulus aspectsassociated with the array of tactile interface devices; and any othersuitable aspects of the array of tactile stimulus devices.

In variations related to feature sets described in Block S120 above, thetransformation model can transform, encode, or otherwise associateaspects of the first feature set with domains (e.g., layers, regions,clusters, areas, etc.) of the array of tactile interface devices,examples of which are shown in FIGS. 4A and 7A. As such, inherentcharacteristics and/or classifications of the set of objects in theenvironment of the user can be mapped to different domains of the arrayof tactile interface devices. For instance (e.g., in a device variationthat has a distribution of the array of tactile stimulation devicesconfigured in a set of rings (or physical bands) about the torso of theuser, such as with the array coupled to an upper garment; configured ina set of rings about another body part of the user; etc.), such amapping can include: a first ring of the array of tactile stimulationdevices can be associated with objects that are characterized asinanimate objects, and a second ring can be associated with objects thatare characterized as animate objects. In this example, the first regioncan surround a superior portion of the body of the user (e.g., the chestof the user) and the second ring can surround an inferior portion of thebody of the user (e.g., the waist of the user). Additionally oralternatively, such a mapping can include: a first ring associated withnavigation information (e.g., providing stimuli associated with one ormore upcoming waypoints), a second ring associated with points ofinterest (e.g., people, objects, and/or location that may be of interestand/or utility to the user), and a third ring associated with obstacles(e.g., that the user may need to navigate past). However, variations ofthe example can additionally or alternatively associate rings of the setof tactile stimulation devices with object characteristics orclassifications in any other suitable manner. Additionally oralternatively, in a device variation that has a distribution of thearray of tactile stimulation devices, a first subregion of the array canbe associated with a first classification of predominant object types inthe environment (e.g., furniture in the room), a second subregion of thearray can be associated with a second classification of predominantobject types (e.g., people the user knows), and a third subregion of thearray can be associated with a third classification of predominantobject types. In variations of the example, the subregions can have anysuitable shape and occupy any suitable region of a support structurecoupled to the user's body.

In the examples and variations described above, the domains/regions ofthe array of tactile stimulation devices can be fixed or dynamicallymodifiable. For instance, the subdomain can be dynamically modified,according to the encodings performed in Block S130, in order to match ashape of an object (e.g., a dog can be represented with a dog-shapedregion of the array of devices). In another example, characteristics ofthe objects can further represented with dynamically modifiablesubdomains. For instance, a larger object can be mapped to a largersubdomain, and a smaller object can be mapped to a smaller subdomain.However, characteristics of the set of objects can be represented in anyother suitable manner.

In a first embodiment, the transformation model produces encodings thatresult in subdomains of an array of tactile stimulation devices that areclosest to an object (e.g., nearby object in the environment, remoteobject, navigation waypoint, etc.) outputting a stimulus associated withthat object (e.g., anterior devices for an object in front of the user).For example, the method can include: determining a position of an objectrelative to the user; selecting a band to associate with the object(e.g., based on an object classification, such as navigation-related,obstacle, point of interest, etc.); selecting a region of the selectedband based on the object's relative position (e.g., in response todetermining that the object is at a 27° heading relative to the user,selecting a region centered on a 27° angular position within the band);and providing stimulus to the user at the selected region, wherein thestimulus is indicative of the object (e.g., stimulus characteristics,such as intensity, spatial and/or temporal pattern, “texture”, etc.,determined based on characteristics of the object). In this example, inresponse to movement of the user and/or object, the stimulus region ispreferably updated accordingly (e.g., as shown in FIG. 7B). Thisembodiment is preferably used in association with a sensory outputdevice that couples to (e.g., encircles, adheres to, etc.) a portion ofthe user's body for which the portion's orientation tends to berelatively similar to the user's current and/or anticipated direction ofmotion (e.g., torso, head, leg, etc.), but can additionally oralternatively be used with sensory output devices coupled to any othersuitable portion of the user (e.g., one or more portions of the arm,such as the wrist or forearm, etc.).

In a second embodiment, the transformation model produces encodingswherein the orientation of an object relative to the user (e.g.,relative to a first portion of user, such as the user's head, torso,etc.) is mapped onto an orientation of the sensory output device (e.g.,relative to an internal reference, like a front portion of the device;relative to a second portion of the user, preferably the portion towhich the device is coupled, such as the user's wrist, forearm, ankle,etc.). In one example, the sensory output device includes abracelet-style housing configured to encircle the user's wrist. In thisexample, a dorsal portion of the bracelet (e.g., bracelet portionconfigured to contact a dorsal portion of the wrist, bracelet portioncurrently contacting a dorsal portion of the wrist, etc.) is mapped toan anterior of the user, a volar portion of the bracelet is mapped to aposterior of the user, an ulnar portion of the bracelet is mapped to aproximal side of the user (e.g., for a right wrist, the right side), anda radial portion of the bracelet is mapped to a distal side of the user(e.g., for a right wrist, the left side), preferably such that, when theuser's arm lies along the length of their body with the palm facingtoward the posterior, the two mappings are substantially aligned. Inthis embodiment, the transformation model preferably produces encodingsthat result in subdomains of an array of tactile stimulation devicesthat map to an object's orientation relative to the user outputting astimulus associated with that object (e.g., a dorsal subregion ofdevices for an object in front of the user). The transformation model ispreferably implemented as described above regarding the firstembodiment, while accounting for this mapping between the user-objectorientation and the sensory output device orientation, but canadditionally or alternatively be implemented in any other suitablemanner. This embodiment is preferably used in association with a sensoryoutput device that couples to (e.g., encircles, adheres to, etc.) aportion of the user's body for which the portion's orientation tends tochange significantly relative to the user's current and/or anticipateddirection of motion (e.g., one or more portions of the arm, such as thewrist or forearm, etc.), but can additionally or alternatively be usedwith sensory output devices coupled to any other suitable portion of theuser (e.g., torso, head, leg, etc.).

In some variations (e.g., wherein the sensory output device includes alow density and/or total number of output actuators, such as a wristbandwith 4 or 8 haptic actuators arrayed about the circumference of theband), the method can include adjusting the actuation intensity of someof the actuators (e.g., neighboring actuators), such as to cause theuser to perceive the actuation as being centered at a (tunable) positionbetween the controlled actuators (e.g., at a position without anactuator). For example, in a device that includes 4 haptic actuators ina circumferential band, located at (or corresponding to a userorientation of, such as described above regarding the second embodiment)0°, 900, 180°, and 270°, an object at a 45° heading can be representedby equal-intensity actuation of the 0° and 90° actuators. In thisexample, as the object's heading changes, the relative intensities ofthe actuators can be adjusted accordingly (e.g., when the object is at a60° heading, the 90° actuator actuates at a greater intensity than the0° actuator, such as at twice the intensity; when the object is at a 90°heading, only the 90° actuator actuates; when the object is at a 135°heading, the 90° and 180° actuators actuate at equal intensities; etc.).

However, the transformation model can additionally or alternativelyproduce any other suitable encodings in any suitable manner.

In variations related to feature sets described in Block S120 above, thetransformation model can additionally or alternatively transform,encode, or otherwise associate aspects of the second feature set withstimulus parameters of the array of tactile interface devices. Invariations, the transformation operation can result in subdomains ofactuators providing stimuli according to a range of parameter types,based upon interactivity between the user and one or more objects (e.g.,wherein interactivity features are derived from the second feature set).In variations, stimulus parameters can include one or more of: temporaloutput type (e.g., intermittent, pulsed, continuous, etc.); pulsepattern (e.g., different periodic and/or aperiodic patterns); pulsewaveform characteristics (e.g., sinusoidal, square wave, triangularwave, wavelength, etc.; such characteristic may affect a user'sperception of the “texture” of the stimulus), output amplitude, outputintensity; output duration; out pulse duration, etc.), device domainsinvolved in an output (e.g., stimulus position, size, spatial sharpnessor diffuseness, spatial pattern, etc.), and any other suitable stimulusparameter (e.g., as shown in FIG. 7C).

For instance, in a device variation that has a distribution of the arrayof tactile stimulation devices configured in a set of rings (or bands)about the torso of the user (e.g., with the array coupled to an uppergarment): the transformation model can produce encodings that producesvibration in devices of a ring, associated with objects (and/orwaypoints), wherein the intensity of vibration increases as the userapproaches an object, as shown in FIG. 4B. Additionally oralternatively, temporal patterns and/or textures can be altered based onthe distance. For example, far-off objects can be represented byconstant, low-intensity actuation, whereas close objects can berepresented by pulsing actuation (e.g., wherein a period of the pulsingdecreases as the object gets closer). In navigation-related examples,upcoming waypoints can optionally be presented to the user depending onproximity to the current waypoint. For example, as a user approaches awaypoint ahead of them, the waypoint-associated stimulus at the anteriorregion of the device can increase in intensity and begin pulsing; as theuser gets closer yet (e.g., within 5 m, 2 m, 1 m, 0.5 m, 0.1-1 m, 1-10m, etc.), a second waypoint stimulus (e.g., lower-intensity stimulus)can be provided corresponding to the following waypoint (e.g., if theuser should turn left at the upcoming waypoint, the second stimulus canbe provided on the left side of the device).

Additionally or alternatively, the transformation model can produceencodings that result in outputs that sweep across a subdomain of thearray of tactile interface devices, wherein the sweeping behaviorcorresponds to velocity and direction of an object moving in front ofthe user. Additionally or alternatively, the transformation model canproduce a high intensity pulse for an object that could potentially harmthe user (e.g., a sharp or hot object). However, variations of theexamples can produce any other suitable encoding between features andstimulus parameters.

In variations related to feature sets described in Block S120 above, thetransformation model can additionally or alternatively transform,encode, or otherwise associate aspects of the third feature set withcomplex or combined outputs of the array of tactile interface devices,and/or other outputs of devices coupled to the user or otherwise able tocommunicate with the user. In variations, the transformation operationcan result in generation of encodings related to both subdomains andstimulus outputs available using the array of tactile stimulus devices.For instance, in relation to environmental boundaries (e.g., walls), thetransformation model can produce encodings for subdomains of the arrayof tactile interface devices that are associated with environmentalboundaries, and output amplitudes of the stimuli provided by thosesubdomains can be increased as the user moves toward the environmentalboundaries. In a specific example, in a device variation that has adistribution of the array of tactile stimulation devices configured in aset of rings about the torso of the user (e.g., with the array coupledto an upper garment): as the user moves forward toward a wall, all ofthe anterior tactile stimulation devices across all rings can be used toindicate that the user is approaching the wall, wherein amplitudes orintensities of stimuli provided increase as the user gets closer to thewall, an example of which is shown in FIG. 4C. In another example, asthe user moves toward upsloping terrain, stimulation devices acrossupper rings can be used to indicate that the user is entering a regionof upsloping terrain (wherein the number of rings used corresponds tothe grade of the terrain), an example of which is shown in FIG. 4D.

In another example, Block S130 can include generating encodings thatresult in outputs that sweep across a subdomain of the array of tactileinterface devices and/or generates other spatial phenomena. Suchsweeping behavior can correspond to, in examples, environmental featuresinvolving elevation change (e.g., sloping terrain, staircases, etc.;wherein the sweep is directed according to the direction of elevationchange, such as shown in FIG. 7D), velocity and/or direction of a movingobject (e.g., object moving near the user, such as in front of theuser), and/or any other suitable phenomena. In a specific example (e.g.,as shown in FIGS. 7A and 7D), the sensory output device includes aregion associated with elevation changes (e.g., same region as one ormore of the bands described above; partially or fully overlapping one ormore of the bands; entirely separate from the bands; all orsubstantially all of the sensory output actuators of the device; etc.).The elevation changes region can include one or more vertical strips,rectangular areas, and/or any other suitable shapes. Based on anelevation change feature, the elevation changes region can be controlledto output a sweeping phenomenon, wherein progressive subsets of theactuators of the region are activated over time. For example, based on adownward elevation change feature, the sweeping phenomenon can includeactivating an upper subset of actuators (e.g., in a vertical strip),then an upper-middle subset, then a middle subset, then a lower-middlesubset, then a lower subset, then optionally repeating the sweepingphenomenon (e.g., starting again beginning with the upper subset). Thesubsets of the elevation changes region can be overlapping, adjacent,separated by a non-zero space, and/or have any other suitablearrangement. The subsets can be substantially equivalent in size and/orshape, and/or can be different from each other. However, the sweepingbehavior can additionally or alternatively be generated in any othersuitable manner.

Additionally or alternatively, such spatial phenomena can includerotating outputs (e.g., wherein outputs are provided in a circularmotion, such as circle defining a substantially horizontal normal axisand/or an axis substantially normal a ring subdomain axis), such asoutputs rotating about a central position (e.g., position determined asdescribed above, such as a position on a ring corresponding to theobject classification, with an angular position corresponding to theobject heading). Such rotating outputs can correspond to, for example,rotating and/or rotatable objects (e.g., revolving door,potentially-harmful spinning obstacle, etc.). However, variations ofthese examples can be conducted in any other suitable manner, and/orBlock S130 can additionally or alternatively include generatingencodings corresponding to any other suitable spatial phenomena.

Block S140 recites: selecting a subset of the set of output parameters(e.g., the subset corresponding to information of interest to the user,which functions to implement a reduction operation to provide asubportion of available information to the user). Block S140 preferablyfunctions to allow a user or other entity to receive content in acustomized manner. In variations, Block S140 can include receiving aninput, provided by the user or another entity, wherein the inputincludes a selection of types of information that the user would like tobe provided with, through the array of tactile interface devices. BlockS140 can additionally or alternatively automatically filter the types ofinformation that the user will be provided with through the array oftactile interface devices, based upon characterizations of the user(e.g., characterizations of the user's impairments, characterizations ofthe user's demographics, characterizations of the user's interests,etc.).

In a first example, the user may opt to receive information related toobjects below knee height, given a tendency for injuries related toobjects below a threshold height. In a second example, the user may optto receive information pertaining to objects in his/her peripheralvision, due to a vision impairment related to peripheral vision lost. Ina third example, the user may opt to receive color-related information,due to a degree of color blindness. In a fourth example, the user mayopt to receive distance information, due to a vision impairment relatedto depth perception. However, in Block S140, any other suitable filtercan be applied, with respect to information provided to the user throughthe array of tactile interface devices.

Block S150 recites: controlling a sensory output system to generateoutputs based on the output (e.g., executing control signals operable todeliver the subset of the set of output parameters with the distributionof tactile interface devices coupled to the user). Block S150 functionsto enable outputs to be delivered to the user through the tactileinterface devices, according to the transformation and encodingalgorithms of Blocks S120-S140. The control signals can be executedaccording to methods described in U.S. application Ser. No. 14/750,626,titled “Providing Information to a User Through Somatosensory Feedback”;however, the control signals can additionally or alternatively beexecuted in any other suitable manner. For instance, Block S150 caninclude receiving one or more user inputs operable to adjust a gainlevel (or other aspect) of output stimuli, such that the user cancustomize the “strength” of stimuli provided through the array oftactile interface devices.

Block S160 recites: repeating any or all of Blocks S110-S150 (e.g., asthe user and/or surrounding objects moves about the environment). BlockS160 functions to provide real-time or near real time informationupdates to the user, such that the user is provided with currentinformation through alternative sensory modes as the user interacts withhis/her environment. Block S160 is preferably performed in near realtime, such that information provided to the user has no perceptible lag,and the user can move about his/her environment while receivingup-to-date information. Block S160 can include repeating BlocksS120-S150 at a desired frequency (e.g., per unit time). Additionally oralternatively, Block S160 can include repeating Blocks S120-S150 basedon any suitable trigger. For instance, Block S160 can include repeatingBlocks S120-S150 based on motion of the user (e.g., using motiondetecting sensors, such as accelerometers, gyroscopes, etc.), such thatrepetition is based on motion of the user without the environment.Additionally or alternatively, Block S160 can be implemented in anyother suitable manner.

Any or all elements of the method can be performed by any elements ofthe system, and/or by any other suitable elements. In one example, afirst portion of the method (e.g., Block S110) is performed by one ormore sensors (e.g., distinct from the sensory output device, integratedwith the sensory output device), electronic user devices (e.g., smartphones), and/or remote computing systems, and a second portion of themethod (e.g., Block S120 and optionally Block S130) is performed by oneor more computing devices distinct from the sensory output device (e.g.,the remote computing systems, electronic user devices, etc.), whereinthe results of which (e.g., environmental information, feature sets,output parameters, sensory output device operation instructions, etc.)are transmitted (e.g., wirelessly) to the sensory output device,whereupon the sensory output device performs a third portion of themethod (e.g., the remaining elements not performed in the first andsecond portions) based on the information included in the transmission(example shown in FIG. 8). In a second example, Block S110 is performedby one or more sensors (e.g., distinct from the sensory output device,integrated with the sensory output device), electronic user devices(e.g., smart phones), and/or remote computing systems, and the results(e.g., environmental information) are transmitted (e.g., wirelessly) tothe sensory output device, whereupon the sensory output device performsall other elements of the method based on the information included inthe transmission (example shown in FIG. 8). However, the elements of themethod can additionally or alternatively be distributed between devicesin any other suitable manner, or can be performed by a single device.

Furthermore, the method 100 can include any other suitable Blocksoperable to promote provision of information to the user, through anarray of tactile interface devices, in any other suitable manner.

An alternative embodiment preferably implements the some or all of abovemethods in a computer-readable medium storing computer-readableinstructions. The instructions are preferably executed bycomputer-executable components preferably integrated with acommunication routing system. The communication routing system mayinclude a communication system, routing system and a pricing system. Thecomputer-readable medium may be stored on any suitable computer readablemedia such as RAMs, ROMs, flash memory, EEPROMs, optical devices (CD orDVD), hard drives, floppy drives, or any suitable device. Thecomputer-executable component is preferably a processor but theinstructions may alternatively or additionally be executed by anysuitable dedicated hardware device.

Although omitted for conciseness, embodiments of the system and/ormethod can include every combination and permutation of the varioussystem components and the various method processes, wherein one or moreinstances of the method and/or processes described herein can beperformed asynchronously (e.g., sequentially), concurrently (e.g., inparallel), or in any other suitable order by and/or using one or moreinstances of the systems, elements, and/or entities described herein.

The FIGURES illustrate the architecture, functionality and operation ofpossible implementations of systems, methods and computer programproducts according to preferred embodiments, example configurations, andvariations thereof. In this regard, each block in the flowchart or blockdiagrams may represent a module, segment, step, or portion of code,which comprises one or more executable instructions for implementing thespecified logical function(s). It should also be noted that, in somealternative implementations, the functions noted in the block can occurout of the order noted in the FIGURES. For example, two blocks shown insuccession may, in fact, be executed substantially concurrently, or theblocks may sometimes be executed in the reverse order, depending uponthe functionality involved. It will also be noted that each block of theblock diagrams and/or flowchart illustration, and combinations of blocksin the block diagrams and/or flowchart illustration, can be implementedby special purpose hardware-based systems that perform the specifiedfunctions or acts, or combinations of special purpose hardware andcomputer instructions.

As a person skilled in the art will recognize from the previous detaileddescription and from the figures and claims, modifications and changescan be made to the preferred embodiments of the invention withoutdeparting from the scope of this invention defined in the followingclaims.

We claim:
 1. A method for providing information to a user, the methodcomprising: sampling a first measurement with a sensor; determining,based on the first measurement, a first direction based on a firstreference position; determining, based on the first direction, a firstset of control instructions to control actuation of a first set oftactile actuators, wherein the first set of tactile actuators areconfigured to be mechanically coupled to the user, the first set ofcontrol instructions configured to: selectively control a tactileactuator of the first set closest to the first reference position; anddetermining, based on a second direction, a second set of controlinstructions for a second set of tactile actuators, wherein the secondset of tactile actuators are configured to be mechanically coupled tothe user.
 2. The method of claim 1, further comprising determining anorientation of the user relative to the first reference position,wherein the first set of control instructions are further determinedbased on the orientation of the user.
 3. The method of claim 1, whereinthe first measurement comprises a distance to the first referenceposition, wherein the first reference position is associated with anobject in an environment of the user.
 4. The method of claim 3, furthercomprising classifying the object with an obstacle class, wherein thefirst set of control instructions comprises an actuation patternassociated with the obstacle class.
 3. The method of claim 3, furthercomprising selecting the first set of tactile actuators from the firstand second sets based on an obstacle class associated with the object,wherein the first set of control instructions is determined in responseto selecting the first set.
 6. The method of claim 3, wherein the firstset of control instructions comprises an actuation intensity based onthe distance to the first reference position.
 7. The method of claim 1,wherein the first set of control instructions is further configured to:selectively control a second tactile actuator of the first set, whereinthe second tactile actuator is adjacent to the first tactile actuatorand next closest to the reference position.
 8. The method of claim 7,wherein an intensity of each of the first and second tactile actuatorsis controlled proportional to a respective angular displacement from thefirst direction.
 9. The method of claim 1, further comprising:concurrently with controlling actuation of the first set of actuatorsaccording to the first set of instructions, selectively controlling thesecond set of actuators according to the second set of instructions. 10.The method of claim 1, further comprising: sampling a second measurementwith a second sensor; and determining the direction based on the secondmeasurement.
 11. A system for providing information to a user, thesystem comprising: a set of tactile actuators configured to bemechanically coupled to the user; a sensor configured to sample ameasurement; a controller communicatively connected to the sensor andeach tactile actuator of the set, the controller configured to: based onthe measurement, determine a direction relative to a reference position;and based on the direction, determine a set of control instructions tocontrol actuation of the set of tactile actuators, the set of controlinstructions configured to selectively control a tactile actuator of theset closest to the reference position.
 12. The system of claim 11,wherein the controller is further configured to determine an orientationof the user relative to the reference position; wherein the controlinstructions are further determined based on the orientation of theuser.
 13. The system of claim 11, wherein the measurement comprises adistance to the reference position, wherein the reference position isassociated with an object in an environment of the user.
 14. The systemof claim 13, wherein the controller is further configured to classifythe object with an obstacle class, wherein the set of controlinstructions comprises an actuation pattern associated with the obstacleclass.
 15. The system of claim 13, wherein the set of controlinstructions comprises an actuation intensity based on the distance tothe reference position.
 16. The system of claim 11, wherein the tactileactuator is a first tactile actuator, and the set of controlinstructions is further configured to: selectively control a secondtactile actuator of the set, the second tactile actuator adjacent to thefirst tactile actuator.
 17. The system of claim 16, wherein an intensityof each of the first and second tactile actuators is controlledproportional to a respective angular displacement from the direction.18. The system of claim 11, further comprising: a second set of tactileactuators configured to be mechanically coupled to the user, wherein thecontroller is communicatively connected to each tactile actuator of thesecond set, the controller further configured to: based on a secondreference position, determine a second set of control instructions forthe second set of tactile actuators.
 19. The system of claim 18, whereinthe controller is configured to: concurrently with controlling actuationof the set of tactile actuators, selectively control the second set oftactile actuators according to the second set of control instructions.20. The system of claim 18, further comprising a second sensorconfigured to sample a second measurement, wherein the controller isfurther configured to determine the second reference position based onthe second measurement.